EP4009498A1 - Rotary actuator - Google Patents
Rotary actuator Download PDFInfo
- Publication number
- EP4009498A1 EP4009498A1 EP20850108.0A EP20850108A EP4009498A1 EP 4009498 A1 EP4009498 A1 EP 4009498A1 EP 20850108 A EP20850108 A EP 20850108A EP 4009498 A1 EP4009498 A1 EP 4009498A1
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- EP
- European Patent Office
- Prior art keywords
- motor
- hollow
- toothed gear
- shaft
- rotary actuator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/46—Fastening of windings on the stator or rotor structure
- H02K3/52—Fastening salient pole windings or connections thereto
- H02K3/521—Fastening salient pole windings or connections thereto applicable to stators only
- H02K3/522—Fastening salient pole windings or connections thereto applicable to stators only for generally annular cores with salient poles
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H35/00—Gearings or mechanisms with other special functional features
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2793—Rotors axially facing stators
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
- H02K21/24—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets axially facing the armatures, e.g. hub-type cycle dynamos
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
- H02K3/26—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors consisting of printed conductors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/32—Windings characterised by the shape, form or construction of the insulation
- H02K3/34—Windings characterised by the shape, form or construction of the insulation between conductors or between conductor and core, e.g. slot insulation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/32—Windings characterised by the shape, form or construction of the insulation
- H02K3/34—Windings characterised by the shape, form or construction of the insulation between conductors or between conductor and core, e.g. slot insulation
- H02K3/345—Windings characterised by the shape, form or construction of the insulation between conductors or between conductor and core, e.g. slot insulation between conductor and core, e.g. slot insulation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/003—Couplings; Details of shafts
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/08—Structural association with bearings
- H02K7/083—Structural association with bearings radially supporting the rotary shaft at both ends of the rotor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H35/00—Gearings or mechanisms with other special functional features
- F16H2035/003—Gearings comprising pulleys or toothed members of non-circular shape, e.g. elliptical gears
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02034—Gearboxes combined or connected with electric machines
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2203/00—Specific aspects not provided for in the other groups of this subclass relating to the windings
- H02K2203/03—Machines characterised by the wiring boards, i.e. printed circuit boards or similar structures for connecting the winding terminations
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
- H02K2213/12—Machines characterised by the modularity of some components
Definitions
- the motor rotor 420 is provided with an annular rotor yoke 421 that is secured to the outer periphery of the hollow motor shaft 411, and a plurality of magnets 422 affixed to the outer peripheral surface of the rotor yoke 421.
- the motor stator 430 is provided with an annular stator core 431 that is a body made from layers of electromagnetic steel plates, a plurality of salient poles 432 formed along the inner peripheral surface thereof with a fixed angular spacing, and stator coils 433 configured from windings disposed on the salient poles 432.
- the stator coils 433 are covered by an insulator 434.
- An SPM motor used in a rotary actuator is provided with a motor stator having a configuration in which windings are formed on each of a plurality of salient poles formed on the inner peripheral surface of a stator core that is a body made from layers of electromagnetic steel plates and in which the windings are insulated, and a motor rotor having a configuration in which magnets are affixed to the outer peripheral surface of a ring-form rotor yoke, as described above.
- SPM motors have a relatively large number of components, a relatively large number of construction steps, and relatively high manufacturing costs. It is also necessary to use insulators having complicated shapes in order to insulate the windings of the salient poles. Furthermore, cogging torque is generated because electromagnetic steel plates are used in the motor stator.
- a hollow motor shaft that extends through a central portion of the motor in the direction of the central axis is used as the motor shaft.
- the wave gear drive is provided with a drive hollow section that extends through the wave gear drive in the direction of the central axis, the drive hollow section communicating coaxially with the hollow section in the hollow motor shaft.
- the power line and the wiring pattern can be connected via the connector mounted on the insulating substrate. This makes it possible to avoid having the insulating substrate and the wiring pattern be affected by damage to the power line.
- the PWB motor 120 is an axial-gap-type hollow motor and is provided with a hollow motor shaft 122, a motor rotor 124 assembled on the hollow motor shaft 122, and a motor stator 123 assembled on the housing 160.
- a portion of the hollow motor shaft 122 that is on the front side with respect to the direction of the central axis 100a constitutes a small-diameter shaft portion 122a, and a rear-side portion of the hollow motor shaft 122 constitutes a large-diameter shaft portion 122b.
- the power line and the wiring pattern can be connected via the connector 190 mounted on the insulating substrate 123a. This makes it possible to avoid having the insulating substrate 123a and the wiring pattern be affected by damage to the power line.
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
Description
- The present invention relates to a rotary actuator provided with a wave gear drive and a motor.
- The hollow rotary actuators proposed in
Patent Documents Patent Documents -
FIG. 7 is an explanatory diagram showing a hollow rotary actuator provided with a wave gear drive and an SPM motor. Therotary actuator 400 is provided with anSPM motor 410 and awave gear drive 450 that is coaxially linked thereto. TheSPM motor 410 is additionally equipped with anencoder 460. TheSPM motor 410 is moreover provided with ahollow motor shaft 411, amotor rotor 420 that is coaxially secured to the outer periphery thereof, and amotor stator 430 that coaxially surrounds themotor rotor 420. Amotor wiring substrate 440 is disposed laterally from themotor rotor 420 and themotor stator 430. - The
motor rotor 420 is provided with anannular rotor yoke 421 that is secured to the outer periphery of thehollow motor shaft 411, and a plurality ofmagnets 422 affixed to the outer peripheral surface of therotor yoke 421. Themotor stator 430 is provided with anannular stator core 431 that is a body made from layers of electromagnetic steel plates, a plurality ofsalient poles 432 formed along the inner peripheral surface thereof with a fixed angular spacing, andstator coils 433 configured from windings disposed on thesalient poles 432. Thestator coils 433 are covered by aninsulator 434. In themotor wiring substrate 440, windings for each phase (e.g., three phases of U, V, and W) are hard-wired by soldering. In addition, amotor power line 413 drawn in from the exterior is attached to themotor wiring substrate 440 by solder hard-wiring. -
- Patent Document 1:
WO2010/089796 - Patent Document 2:
JP 2001-304382 A - A rotary actuator provided with a wave gear drive and a motor is, for example, incorporated into an industrial robot or another device as a power unit. Rotary actuators of short axial length, and those having both short axial lengths and large hollow diameters, are desired from the standpoint of, inter alia, reducing the size of the device.
- An SPM motor used in a rotary actuator is provided with a motor stator having a configuration in which windings are formed on each of a plurality of salient poles formed on the inner peripheral surface of a stator core that is a body made from layers of electromagnetic steel plates and in which the windings are insulated, and a motor rotor having a configuration in which magnets are affixed to the outer peripheral surface of a ring-form rotor yoke, as described above. SPM motors have a relatively large number of components, a relatively large number of construction steps, and relatively high manufacturing costs. It is also necessary to use insulators having complicated shapes in order to insulate the windings of the salient poles. Furthermore, cogging torque is generated because electromagnetic steel plates are used in the motor stator.
- SPM motors have windings on the outer periphery of the salient poles in the stator core, which is a body made from layers of electromagnetic steel plates. It is not easy for the salient poles to be orderly wound or for the winding space factor to be increased. Furthermore, it is necessary to perform work for hard-wiring of the windings for each phase after performing work for winding the windings onto the salient poles. For example, performing work for hard-wiring of three-phase windings of U, V, and W involves appreciable manual work, such as processes for removing coatings on conducting wires and work for solder hard-wiring, and requires skill to accomplish. It is also not easy to ensure the quality of the solder. Furthermore, because the power line is directly connected to the windings, individual motors need to be replaced when the power line is damaged.
- It is an object of the present invention to provide a short-axial-length rotary actuator that is provided with a wave gear drive and a motor. It is also an object of the present invention to provide a hollow rotary actuator that has a large hollow diameter and that is provided with a wave gear drive and a motor.
- According to the present invention, there is provided a rotary actuator provided with a motor and a wave gear drive that is linked to the motor so as to reduce speed of output rotation of the motor and output the reduced-speed rotation, wherein an axial-gap-type motor provided with a motor shaft, and with a motor rotor and a motor stator that face each other across a fixed spacing in the direction of the central axis of the motor shaft, is used as the motor. The motor rotor is provided with a rotor disc that is coaxially secured to the motor shaft, and rotor magnets that are secured to the rotor disc. The motor stator is provided with an insulating substrate, and motor coils that are formed by printed wiring formed on the surface or interior of the insulating substrate.
- In the hollow rotary actuator of the present invention, in addition to the configuration described above, a hollow motor shaft that extends through a central portion of the motor in the direction of the central axis is used as the motor shaft. The wave gear drive is provided with a drive hollow section that extends through the wave gear drive in the direction of the central axis, the drive hollow section communicating coaxially with the hollow section in the hollow motor shaft.
- In the motor of the rotor actuator of the present invention, the motor stator is configured from a printed wiring board (PWB) provided with the insulating substrate and the motor coils that are configured by printed wiring formed on the surface or interior of the insulating substrate. The motor having this configuration is referred to below as a PWB motor. In the rotary actuator of the present invention, in which an axial-gap-type PWB motor is used, the axial length can be decreased and the hollow diameter can be increased to a greater extent than in a rotary actuator of the prior art, in which a radial-gap-type SPM motor is used.
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FIG. 1 is a longitudinal cross-sectional view showing a hollow rotary actuator according to first embodiment to which the present invention is applied; -
FIG. 2 is a front view and a perspective view showing a PWB motor ofFIG. 1 ; -
FIG. 3 is a perspective view and an exploded perspective view showing another example of the PWB motor; -
FIG. 4 is a longitudinal cross-sectional view showing a hollow rotary actuator according to second embodiment to which the present invention is applied; -
FIG. 5 is a longitudinal cross-sectional view showing an example of a biaxial rotary actuator; -
FIG. 6 is a longitudinal cross-sectional view showing another example of a biaxial rotary actuator; and -
FIG. 7 is an explanatory diagram showing a hollow rotary actuator in the prior art. - Rotary actuators according to embodiments of the present invention are described below with reference to the accompanying drawings. The descriptions below are in no way intended to limit the embodiments of the present invention.
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FIG. 1 is a schematic longitudinal cross-sectional view showing a hollow rotary actuator according to first embodiment of the present invention. Therotary actuator 1 is provided with aPWB motor 2, awave gear drive 3 that is linked to thePWB motor 2 so as to reduce speed of output rotation of thePWB motor 2 and output the reduced-speed rotation, and arotary encoder 4 that detects rotation of thePWB motor 2. - The
PWB motor 2 is an axial-gap-type motor and is provided with acylindrical housing 21. Ahollow motor shaft 22, amotor stator 23, and amotor rotor 24 are disposed inside thehousing 21. Thehollow motor shaft 22 is disposed coaxially inside thehousing 21 via bearings in a state that allows rotation. Thehollow motor shaft 22 extends through a central portion of thePWB motor 2 in the direction of acentral axis 1a. Themotor stator 23 and themotor rotor 24 face each other in parallel across a fixed spacing in the direction of thecentral axis 1a of thehollow motor shaft 22 in a state of coaxially surrounding thehollow motor shaft 22. - The
rotary encoder 4 is disposed on a rear-sideaxial end section 22a of thehollow motor shaft 22. Therotary encoder 4 is covered by anencoder cover 41 attached to a rear-side open end of thehousing 21. The rear end of thehollow motor shaft 22 passes through a central portion of theencoder cover 41, and ahollow section 22b of thehollow motor shaft 22 opens rearward. A front-sideaxial end section 22c that is the other axial end section of thehollow motor shaft 22 extends toward thewave gear drive 3 through ahousing partition wall 25 located between thehollow motor shaft 22 and thewave gear drive 3 in a state that allows rotation. - The
wave gear drive 3 is provided with a rigid internallytoothed gear 31, a flexible externallytoothed gear 32, and awave generator 33. The externallytoothed gear 32 has a "top hat" profile in the present example and is secured to thehousing 21. The externallytoothed gear 32 and the internallytoothed gear 31 are retained in a state that allows relative rotation viabearings 34. Thewave generator 33 is a rotation-inputting element, and is provided with arigid plug 33a that is coaxially secured to the outer peripheral surface of the front-sideaxial end section 22c of thehollow motor shaft 22, and a wave bearing 33b that is fitted onto the ellipsoidal outer peripheral surface of therigid plug 33a. The portion of the externallytoothed gear 32 whereexternal teeth 32a are formed is flexed in an ellipsoidal shape by thewave generator 33. Theexternal teeth 32a thereby mesh withinternal teeth 31a of the internallytoothed gear 31 at positions at both long-axis ends of the ellipsoidal shape. - The internally
toothed gear 31 is a reduced-speed rotation outputting element. A disc-form output shaft 35 is coaxially secured to the internallytoothed gear 31. Acentral hole 35a in theoutput shaft 35 communicates coaxially with thehollow section 22b of thehollow motor shaft 22. A drive hollow section that extends through the central portion of thewave gear drive 3 is formed by thecentral hole 35a and the hollow portion of theaxial end section 22c of thehollow motor shaft 22. Specifically, a hollow section that extends through the central portion in the direction of thecentral axis 1a and that opens at both ends is formed in therotary actuator 1. -
FIG. 2(a) is a schematic front view showing thePWB motor 2, andFIG. 2(b) is a schematic perspective view of the same. The following description is given with reference toFIGS. 1 and2 . Themotor stator 23 of thePWB motor 2 is provided with an insulatingsubstrate 26 provided with a central hole through which thehollow motor shaft 22 passes in a state that allows rotation, and motor coils 27 (coreless coils) that are defined by a coil winding pattern formed from a copper foil formed on the insulatingsubstrate 26. The insulatingsubstrate 26 is secured to thehousing 21. In the present example, the motor coils 27 are arranged in the surface of the insulatingsubstrate 26 with equiangular spacing about thecentral axis 1a. For example, twelvemotor coils 27 that form U, V, and W phases are arranged in the circumferential direction. The arrangement state, the arrangement number, the shape, etc., of the motor coils 27 are not limited to those of the example in the drawings. - The
motor rotor 24 is provided with arotor disc 28 of fixed plate thickness that is coaxially secured to thehollow motor shaft 22, androtor magnets 29 that are attached to therotor disc 28. Therotor magnets 29 are arranged with equiangular spacing about thecentral axis 1a. In the present example, eight round magnetfitting holes 28a are formed in therotor disc 28 with equiangular spacing in the circumferential direction. The disc-form rotor magnets 29, which have greater plate thickness than therotor disc 28, are fitted into the magnetfitting holes 28a. The arrangement state and the arrangement number of therotor magnets 29 are not limited to those of the example in the drawings. The shape of therotor magnets 29 is not limited to that of a disc, but rather may be quadrilateral, etc. Furthermore, bonding, press-fitting, and various other methods can be employed as the method of attachment. - The motor coils 27 of the
motor stator 23 and therotor magnets 29 of themotor rotor 24 face each other across a fixed gap in the direction of thecentral axis 1a. A motor magnetic circuit is thereby configured. Amotor power line 5 is disposed through a wiring hole formed in thehousing 21. Themotor power line 5 is connected to aconnector 6 mounted on the insulatingsubstrate 26, and is connected via theconnector 6 to a hard-wiring pattern (not shown) formed on the insulatingsubstrate 26. - As described above, an axial-gap-
type PWB motor 2 is used in therotary actuator 1 of the present embodiment. ThePWB motor 2 is configured from amotor stator 23 formed from an insulatingsubstrate 26 on which a coil winding pattern is formed, and amotor rotor 24 formed from arotor disc 28 to whichrotor magnets 29 are attached. The axial length can be decreased and the hollow diameter thereof can be increased to a greater extent than in a rotary actuator of the prior art, in which a radial-gap-type SPM motor is used. - It is also possible to lower the number of components and the number of construction steps, as well as to reduce manufacturing costs, to a greater extent than in a typically used SPM motor. It is moreover unnecessary to use an insulator having a complicated shape in order to insulate the windings of salient poles. Furthermore, because no electromagnetic steel plates are used in the motor stator, there is no concern that cogging torque will be generated.
- Furthermore, it is preferable to form a winding pattern from a copper foil on the surface or interior of the insulating substrate in the
PWB motor 2, and therefore it is possible to easily form a highly precise winding pattern and to increase the winding space factor. The need for manual work, such as work for solder hard-wiring of the windings, is also obviated. Furthermore, the power line and the wiring pattern can be connected via the connector mounted on the insulating substrate. This makes it possible to avoid having the insulating substrate and the wiring pattern be affected by damage to the power line. -
FIG. 3 is a schematic perspective view and a schematic exploded perspective view showing another example of thePWB motor 2. In thePWB motor 2A shown in these drawings,motor stators central axis 1a, sandwiching amotor rotor 24A that is coaxially attached to thehollow motor shaft 22. Themotor stators motor stator 23 described above and are disposed symmetrically sandwiching themotor rotor 24A. Themotor rotor 24A also has the same structure as themotor rotor 24 described above. Using twomotor stators -
FIG. 4 is a schematic longitudinal cross-sectional view showing a flat hollow rotary actuator according to second embodiment. Therotary actuator 100 is provided with aPWB motor 120, a wave gear drive 130 having a "cup" profile, anannular output shaft 140, and arotary encoder 150 that detects rotation of thePWB motor 120. Therotary encoder 150 is disposed in an end (rear end) of acylindrical housing 160 on the side toward the rear of the actuator (one side in the direction of acentral axis 100a). ThePWB motor 120 and thewave gear drive 130 are incorporated inside thehousing 160 so as to be oriented toward the front of the actuator from the rear end of thehousing 160, and theoutput shaft 140 is disposed at the front end of thehousing 160. Theoutput shaft 140 is rotatably supported by thehousing 160 via across-roller bearing 170. - The
PWB motor 120 is an axial-gap-type hollow motor and is provided with ahollow motor shaft 122, amotor rotor 124 assembled on thehollow motor shaft 122, and amotor stator 123 assembled on thehousing 160. A portion of thehollow motor shaft 122 that is on the front side with respect to the direction of thecentral axis 100a constitutes a small-diameter shaft portion 122a, and a rear-side portion of thehollow motor shaft 122 constitutes a large-diameter shaft portion 122b. Arotor disc 122c that expands radially outward is formed integrally with the rear end of the small-diameter shaft portion 122a, and the front end of the large-diameter shaft portion 122b is coaxially and securely linked to therotor disc 122c. Themotor rotor 124 is provided withrotor magnets 124a that are attached to therotor disc 122c at locations on the outer-peripheral side of the large-diameter shaft portion 122b. Themotor stator 123 faces therotor magnets 124a from the rear side in the direction of thecentral axis 100a with a very small gap interposed therebetween. - The
rotary encoder 150 is assembled on the rear-side axial end section of the large-diameter shaft portion 122b of thehollow motor shaft 122. Therotary encoder 150 is covered by anencoder cover 151 attached to a rear-side open end of thehousing 160. A motorhollow section 125 that is the hollow section of thehollow motor shaft 122 opens rearward from acentral opening 152 in theencoder cover 151. Anoil seal 153 is attached to the central opening edge of theencoder cover 151. The rear side of the motorhollow section 125 in the direction of thecentral axis 100a constitutes a large-diameter hollow section, and the front side of the motorhollow section 125 constitutes a small-diameter hollow section. - The
wave gear drive 130 is provided with ahollow input shaft 131 formed integrally with the small-diameter shaft portion 122a on the front side of thehollow motor shaft 122, awave generator 132 assembled on the outer peripheral surface of thehollow input shaft 131, a flexible externallytoothed gear 133 having a "cup" profile, and an annular rigid internallytoothed gear 134 formed integrally with the inner peripheral surface of thehousing 160. A disc-formpartition plate portion 161 is formed on the motor-side end surface of the internallytoothed gear 134. ThePWB motor 120 and thewave gear drive 130 are partitioned by thepartition plate portion 161. Locations where thehollow input shaft 131 joins thehollow motor shaft 122 are rotatably supported bybearings 162 installed in the inner peripheral edge section of thepartition plate portion 161. - The externally
toothed gear 133 is provided with acylindrical barrel part 133a that is capable of flexing in the radial direction, a disc-form diaphragm 133b extending radially inward from the rear end of thecylindrical barrel part 133a, a rigidannular boss 133c formed continuously and integrally with the inner peripheral edge of the diaphragm, andexternal teeth 133d formed on an outer peripheral surface portion on an opening-end side of thecylindrical barrel part 133a. The externallytoothed gear 133 is a reduced-speed rotation outputting element, and therigid boss 133c thereof is coaxially and securely linked to theoutput shaft 140. In the present example, theoutput shaft 140 is formed integrally with aninner ring 171 of thecross-roller bearing 170. Anouter ring 172 of thecross-roller bearing 170 is securely linked to thehousing 160. - The
wave generator 132 is disposed on the inner side of the portion of the externallytoothed gear 133 where theexternal teeth 133d are formed. Thewave generator 132 is provided with:
aplug portion 132a having an ellipsoidal contour, theplug portion 132a being formed integrally with the outer peripheral surface of thehollow input shaft 131; and a wave bearing 132b that is installed on the ellipsoidal outer peripheral surface of theplug portion 132a. The portion of the externallytoothed gear 133 where theexternal teeth 133d are formed is flexed in an ellipsoidal shape by thewave generator 132. Theexternal teeth 133d thereby mesh withinternal teeth 134a of the internallytoothed gear 134 at both long-axis-end positions of the ellipsoidal shape. - The front-end portion of the
hollow input shaft 131 extends to near theboss 133c of the externallytoothed gear 133. Anannular bearing holder 135 is coaxially secured to theboss 133c. The front-end portion of thehollow input shaft 131 is rotatably supported by abearing 136 installed in thebearing holder 135. A drivehollow section 137 passing through the central portion of thewave gear drive 130 is formed by a hollow section of theboss 133c, a hollow section of thebearing holder 135, and a hollow section of thehollow input shaft 131. The drivehollow section 137 communicates coaxially with the motorhollow section 125. An actuator hollow section extending through therotary actuator 100 in the direction of thecentral axis 100a is formed by the motorhollow section 125 and the drivehollow section 137. - In the
rotary actuator 100 having this configuration, rotation of thehollow motor shaft 122 of thePWB motor 120 is transmitted to thewave generator 132 via thehollow input shaft 131. When thewave generator 132 rotates, the positions at which the externallytoothed gear 133 meshes with the internallytoothed gear 134 move in the circumferential direction. The twogears gears toothed gear 133 rotates because the internallytoothed gear 134 is a stationary-side member that is formed integrally with thehousing 160. Rotation of the externallytoothed gear 133 is outputted from theoutput shaft 140. - The
PWB motor 120 is configured in the same manner as thePWB motor 2 shown inFIG. 2 . Themotor stator 123 of thePWB motor 120 is provided with an insulatingsubstrate 123a provided with a central hole through which the large-diameter shaft portion 122b of thehollow motor shaft 122 passes in a state that allows rotation, and motor coils (not shown) that are defined by a coil winding pattern formed from a copper foil formed on the insulatingsubstrate 123a. The insulatingsubstrate 123a is secured to thehousing 160. The motor coils are arranged in the surface of the insulatingsubstrate 123a with equiangular spacing about thecentral axis 100a. For example, twelve motor coils that form U, V, and W phases are arranged in the circumferential direction. The arrangement state, the arrangement number, the shape, etc., of the motor coils are not limited to those of the example in the drawings. - The
motor rotor 124 is provided withrotor magnets 124a attached to therotor disc 122c, which is of fixed thickness and is formed integrally with the small-diameter shaft portion 122a of thehollow motor shaft 122. Therotor magnets 124a are arranged with equiangular spacing about thecentral axis 100a. For example, eight roundmagnet fitting holes 122d are formed in therotor disc 122c with equiangular spacing in the circumferential direction. The disc-form rotor magnets 124a, which have greater plate thickness than therotor disc 122c, are fitted into themagnet fitting holes 122d. The arrangement state and the arrangement number of therotor magnets 124a are not limited to those of the example in the drawings. The shape of therotor magnets 124a is not limited to that of a disc, but rather may be quadrilateral, etc. Furthermore, bonding, press-fitting, and various other methods can be employed as the method of attachment. - The motor coils (not shown) of the
motor stator 123 and therotor magnets 124a of themotor rotor 124 face each other across a fixed gap in the direction of thecentral axis 100a. A motor magnetic circuit is thereby configured. Amotor power line 180 is disposed through a wiring hole formed in thehousing 160. Themotor power line 180 is connected to aconnector 190 mounted on the insulatingsubstrate 123a, and is connected via theconnector 190 to a hard-wiring pattern (not shown) formed on the insulatingsubstrate 123a. A motor having the configuration shown inFIG. 3 can also be used as thePWB motor 120. - As described above, an axial-gap-
type PWB motor 120 is used in therotary actuator 100. The axial length can be decreased and the hollow diameter thereof can be increased to a greater extent than in a rotary actuator of the prior art, in which a radial-gap-type SPM motor is used. In particular, the motorhollow section 125 can be increased in diameter. It is also possible to lower the number of components and the number of construction steps, as well as to reduce manufacturing costs, to a greater extent than in a typically used SPM motor. It is moreover unnecessary to use an insulator having a complicated shape in order to insulate the windings of salient poles. Furthermore, because no electromagnetic steel plates are used in the motor stator, there is no concern that cogging torque will be generated. - Furthermore, it is preferable to form a winding pattern from a copper foil on the surface or interior of the insulating
substrate 123a in thePWB motor 120, and therefore it is possible to easily form a highly precise winding pattern and to increase the winding space factor. The need for manual work, such as work for solder hard-wiring of the windings, is also obviated. Furthermore, the power line and the wiring pattern can be connected via theconnector 190 mounted on the insulatingsubstrate 123a. This makes it possible to avoid having the insulatingsubstrate 123a and the wiring pattern be affected by damage to the power line. - As mentioned previously, the
PWB motor 120 in therotary actuator 100 is an axial-gap-type motor. Because it is unnecessary to line up constituent components in the radial direction, it is easy to increase the hollow diameter of the motorhollow section 125. For example, the hollow diameter of the large-diameter hollow section of the motorhollow section 125, which is open at the rear end, is easily set to be greater than the outside-diameter dimensions of the front-end portion of theoutput shaft 140, which is disposed at the front end. Setting the dimensions in this manner makes it possible to coaxiallylink rotary actuators 100 in the axial direction and configure a multi-axial rotary actuator. -
FIG. 5 is a schematic longitudinal cross-sectional view showing a biaxialrotary actuator 200 having a configuration in which rotary actuators 100(1), 100(2) of the same size and the same configuration are linked in the axial direction. The preceding-stage rotary actuator 100(1) and the subsequent-stage rotary actuator 100(2) are of the same size and structure as therotary actuator 100 described above, and therefore the structures thereof are not described here. The front-end portion of the output shaft 140(2) of the subsequent-stage rotary actuator 100(2) is coaxially inserted, in a state that allows rotation, into the motor hollow section 125(1) that is open at the rear end of the preceding-stage rotary actuator 100(1). In this state, the two rotary actuators 100(1), 100(2) are securely linked. A space between the inner peripheral edge section of the central opening 152(1) in the encoder cover 151(1) by which the rear-end portion of the motor hollow section 125(1) is defined and the outer peripheral surface of the subsequent-stage output shaft 140(2) is sealed by the oil seal 153(1) attached to the encoder cover 151(1). - Coaxially linking the rotary actuators 100(1), 100(2) of the same size makes it possible to dispose the preceding-stage output shaft 140(1) and the subsequent-stage output shaft 140(2) on the same axis. Similarly, coaxially linking three or more
rotary actuators 100 of the same size makes it possible to configure a multi-axial rotary actuator. - In the biaxial
rotary actuator 200 or the multi-axial rotary actuator, a hollow section having a large inside diameter is formed extending through the center thereof. The hollow section can be used as a space for passage of large amounts of wiring or piping. The hollow section can also be used as a space for establishing a ball screw or another motive power transmission member. The hollow section can furthermore be used as an optical path for laser light, etc. -
FIG. 6 is a schematic longitudinal cross-sectional view showing a biaxialrotary actuator 300 having a configuration in which rotary actuators 100(1), 100(3) of different sizes but the same configuration are linked in the axial direction. The rotary actuator 100(1) is of the same size and configuration as therotary actuator 100 described above. The rotary actuator 100(3) is of the same configuration as therotary actuator 100 but is one size smaller. In the present example, the outside-diameter dimensions of the housing 160(3) of the rotary actuator 100(3) are set to be smaller than the inside-diameter dimensions of the large-diameter hollow section on the rear side of the motor hollow section 125(1) of the rotary actuator 100(1). In addition, the outside-diameter dimensions of the front-end portion of the output shaft 140(3) of the rotary actuator 100(3) are set to be smaller than the inside-diameter dimensions of the small-diameter hollow section on the front side of the motor hollow section 125(1) of the rotary actuator 100(1). - As shown in
FIG. 6 , the rear-side rotary actuator 100(3), which is smaller in size, is inserted in a coaxial state from the rear-end-opening side of the motor hollow section 125(1) of the front-side rotary actuator 100(1), which is larger in size. In this state, the housings of the two rotary actuators 100(1), 100(3) are linked together. A space between the two rotary actuators 100(1), 100(3) is sealed by the oil seal 153(1). This makes it possible to configure a biaxialrotary actuator 300 having a short axial length.
Claims (5)
- A rotary actuator comprising a motor and a wave gear drive that is linked to the motor so as to reduce speed of output rotation of the motor and output reduced-speed rotation, whereinthe motor is an axial-gap-type motor provided with a motor shaft, and with a motor rotor and a motor stator that face each other across a fixed spacing in a direction of a central axis of the motor shaft;the motor rotor is provided with a rotor disc that is coaxially secured to the motor shaft, and rotor magnets that are secured to the rotor disc; andthe motor stator is provided with an insulating substrate, and motor coils that are defined by printed wiring formed on a surface or interior of the insulating substrate.
- The rotary actuator according to claim 1, whereinthe motor shaft is a hollow motor shaft that extends through a central portion of the motor in the direction of the central axis,a hollow section of the hollow motor shaft defines a motor hollow section,the wave gear drive is provided with a drive hollow section that extends through the wave gear drive in the direction of the central axis,the drive hollow section communicates coaxially with the motor hollow section,the drive hollow section opens toward an actuator front side that is one side in the direction of the central axis, andthe motor hollow section opens toward an actuator rear side that is the other side in the direction of the central axis.
- The rotary actuator according to claim 2, whereinthe wave gear drive is provided with: a rigid internally toothed gear; a flexible externally toothed gear that is coaxially disposed inside the internally toothed gear; a wave generator that is installed inside the externally toothed gear and flexes the externally toothed gear into an ellipsoidal shape so that the externally toothed gear partially meshes with the internally toothed gear; a hollow input shaft that rotates integrally with the hollow motor shaft; and a hollow output shaft that outputs reduced-speed rotation,the wave generator is provided with a rigid plug having an ellipsoidal outer peripheral surface, and a wave bearing installed between the ellipsoidal outer peripheral surface and the externally toothed gear,the rigid plug is coaxially secured to an outer peripheral surface of the hollow input shaft or is integrally formed on the outer peripheral surface thereof,one of the internally toothed gear and the externally toothed gear is a stationary-side member, and the other is an driven-side member, andthe hollow output shaft is coaxially and securely linked to the drive-side member.
- The rotary actuator according to claim 3, whereinthe hollow output shaft is disposed at an actuator-front-side end, andinner-diameter dimensions of the motor hollow section and outer-diameter dimensions of the hollow output shaft are set so that the hollow output shaft can be inserted into the motor hollow section from the actuator rear side.
- The rotary actuator according to claim 4, further comprising:a cylindrical housing; anda bearing that supports the externally toothed gear in a state that allows relative rotation with respect to the internally toothed gear,whereinthe motor and the wave gear drive are installed into the housing,the internally toothed gear is the stationary-side member and is integrally formed on the housing or is secured to the housing,the externally toothed gear is the driven-side member and is provided with a cylindrical barrel part, a diaphragm extending inward in a radial direction from one end of the cylindrical barrel part, and an annular boss continued from and formed on an inner peripheral edge of the diaphragm,the boss is coaxially and securely linked to the hollow output shaft, andthe hollow output shaft is supported in a rotatable state by the housing via the bearing.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019030436 | 2019-08-02 | ||
PCT/JP2020/028629 WO2021024825A1 (en) | 2019-08-02 | 2020-07-27 | Rotary actuator |
Publications (2)
Publication Number | Publication Date |
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EP4009498A1 true EP4009498A1 (en) | 2022-06-08 |
EP4009498A4 EP4009498A4 (en) | 2023-08-09 |
Family
ID=74503799
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP20850108.0A Pending EP4009498A4 (en) | 2019-08-02 | 2020-07-27 | Rotary actuator |
Country Status (7)
Country | Link |
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US (1) | US20220255400A1 (en) |
EP (1) | EP4009498A4 (en) |
JP (1) | JP7313790B2 (en) |
KR (1) | KR102635551B1 (en) |
CN (1) | CN114175467A (en) |
TW (1) | TW202220342A (en) |
WO (1) | WO2021024825A1 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN111390964B (en) * | 2020-04-23 | 2024-06-21 | 广州市精谷智能装备有限公司 | Shafting structure of integrated joint of cooperative robot |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS498567B1 (en) * | 1970-06-18 | 1974-02-27 | ||
JPS60144769U (en) * | 1984-03-02 | 1985-09-26 | 株式会社安川電機 | Concentric multi-axis actuator |
JPH06791A (en) * | 1992-06-19 | 1994-01-11 | Tokico Ltd | Wrist mechanism for robot |
DE69415517T3 (en) * | 1993-04-16 | 2005-03-17 | Brooks Automation, Inc., Lowell | HANDLING DEVICE WITH JOINT CARRIER |
KR0130207Y1 (en) * | 1995-04-18 | 1999-04-15 | 구자홍 | motor |
JP4650913B2 (en) | 2000-04-27 | 2011-03-16 | 株式会社ハーモニック・ドライブ・システムズ | Lubricant leakage prevention mechanism for hollow wave gear device |
DE10024907B4 (en) * | 2000-05-16 | 2004-05-27 | Brose Fahrzeugteile Gmbh & Co. Kg, Coburg | drive unit |
JP5241830B2 (en) | 2009-02-03 | 2013-07-17 | 株式会社ハーモニック・ドライブ・システムズ | Geared motor assembly |
WO2010090452A2 (en) | 2009-02-04 | 2010-08-12 | 성균관대학교산학협력단 | Small interference rna complex with increased intracellular transmission capacity |
JP5759731B2 (en) * | 2011-01-21 | 2015-08-05 | 日本電産サンキョー株式会社 | Rotation drive |
JP2014011931A (en) * | 2012-07-03 | 2014-01-20 | Seiko Epson Corp | Electro-mechanical device, actuator using the same, motor, robot and robot hand |
JP6836343B2 (en) * | 2016-07-05 | 2021-02-24 | 日本電産シンポ株式会社 | Motor unit for strain wave gearing reducer |
JPWO2020050242A1 (en) * | 2018-09-03 | 2021-08-30 | 日本電産シンポ株式会社 | Drive device |
-
2020
- 2020-07-27 EP EP20850108.0A patent/EP4009498A4/en active Pending
- 2020-07-27 CN CN202080053021.3A patent/CN114175467A/en active Pending
- 2020-07-27 JP JP2021537226A patent/JP7313790B2/en active Active
- 2020-07-27 KR KR1020227001800A patent/KR102635551B1/en active IP Right Grant
- 2020-07-27 WO PCT/JP2020/028629 patent/WO2021024825A1/en unknown
- 2020-07-27 US US17/629,077 patent/US20220255400A1/en active Pending
- 2020-11-24 TW TW109141090A patent/TW202220342A/en unknown
Also Published As
Publication number | Publication date |
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EP4009498A4 (en) | 2023-08-09 |
US20220255400A1 (en) | 2022-08-11 |
KR102635551B1 (en) | 2024-02-08 |
KR20220024698A (en) | 2022-03-03 |
CN114175467A (en) | 2022-03-11 |
WO2021024825A1 (en) | 2021-02-11 |
TW202220342A (en) | 2022-05-16 |
JP7313790B2 (en) | 2023-07-25 |
JPWO2021024825A1 (en) | 2021-02-11 |
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